Trajectories prediction in multi-ship encounters: Utilizing graph convolutional neural networks with GRU and Self-Attention Mechanism. - Xi Zeng; Miao Gao; Anmin Zhang; Jixiang Zhu; Yingjun Hu; Pengxu Chen; Shuai Chen; Taoning Dong; Shenwen Zhang; Peiru Shi (Comput. Electr. Eng., 2024)